Siemens SIMOTION Function Manual page 63

Table 4-1
Technology object
Real drive axis
Real position axis
Real synchronized axis
Virtual axes
External encoder
Possible configuration of the cam tracks with actual value reference:
● Reference to the actual value on the encoder without considering Ti. Reference to the actual
● Reference to the actual value after the position filter. Reference to the actual position in the
● Reference to the actual value on the encoder. Ti is taken into account. Reference to the
Possible configuration of the cam tracks with setpoint reference:
● Reference to the setpoint after the fine interpolator. The cam switch points are calculated
● Reference to the setpoint after the fine interpolator. The cam switch points are calculated
● Reference to the setpoint on the drive. Calculation of the cam switch points according to
In this case, the cam track functionality can be applied to axes or external encoders with or
without modulo properties.
The cam track is also effective for axes that have not been homed.
The cam track is defined independently of the axis. The cam track is mapped on the axis via
an axis reference position, once the track is activated. This enables cam tracks to be operated
in a particularly flexible way (e.g. relative output of a cam track on the basis of a measured
edge on the measuring input, cam track offset, etc.).
Output on one output
The cam track TO is assigned to one output only during configuration. Output can be achieved
via:
● Onboard I/O
● Drive I/O (for example TB30, TM31, TM1x)
● SIMOTION C centralized I/O
● Distributed I/O; PROFIBUS DP I/O (e.g. ET 200M)
Output Cams and Measuring Inputs
Function Manual, 04/2014
Reference to the actual or set position
position in the controller before the position filter.
controller after the position filter.
actual value on the encoder module / drive. The transmission time Ti from the encoder
module / drive to the controller is taken into account by the system.
as if the setpoints will already have been reached at the end of this IPO cycle, e.g. if a
setpoint is calculated for the IPO cycle clock with the virtual axis and also displayed at the
end of the cycle. Reference is made directly to the setpoint applicable at the end of the
cycle.
as if the setpoint calculated in the interpolator will be output completely in the following
cycle and the calculated position setpoint will therefore be reached at the end of the
following cycle.
the setpoint output with the current settings on the drive.
Reference to actual position
possible
-
X
X
-
X
Cam Track TO - Part II
4.1 Overview of TO Cam Track
Reference to set position
possible
-
X
X
X
-
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